Measurement of robustness for biped locomotion using linearized Poincare' map

Ming-Yang Cheng, C. S. Lin

Research output: Contribution to journalConference article

6 Citations (Scopus)

Abstract

Many studies on control of dynamic biped walking have been done in the past two decades. While the biped dynamics is highly nonlinear, the stability analysis, if done, was usually based on a linearized model. The validity of the linearized model may become questionable if the walking involves states that are too far away from the operating point. In this paper, an approach for evaluating the robustness based on the linearized Poincare' map is suggested and examined. The Poincare' map technique is often used in studying periodic motion. The computational method that results in a measurement for evaluating the robustness of biped locomotion is developed. Our simulation study has verified that the suggested measurement is a good indicator.

Original languageEnglish
Pages (from-to)1321-1326
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume2
Publication statusPublished - 1995 Dec 1
EventProceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) - Vancouver, BC, Can
Duration: 1995 Oct 221995 Oct 25

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Biped locomotion
Computational methods

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture

Cite this

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abstract = "Many studies on control of dynamic biped walking have been done in the past two decades. While the biped dynamics is highly nonlinear, the stability analysis, if done, was usually based on a linearized model. The validity of the linearized model may become questionable if the walking involves states that are too far away from the operating point. In this paper, an approach for evaluating the robustness based on the linearized Poincare' map is suggested and examined. The Poincare' map technique is often used in studying periodic motion. The computational method that results in a measurement for evaluating the robustness of biped locomotion is developed. Our simulation study has verified that the suggested measurement is a good indicator.",
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Measurement of robustness for biped locomotion using linearized Poincare' map. / Cheng, Ming-Yang; Lin, C. S.

In: Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Vol. 2, 01.12.1995, p. 1321-1326.

Research output: Contribution to journalConference article

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AB - Many studies on control of dynamic biped walking have been done in the past two decades. While the biped dynamics is highly nonlinear, the stability analysis, if done, was usually based on a linearized model. The validity of the linearized model may become questionable if the walking involves states that are too far away from the operating point. In this paper, an approach for evaluating the robustness based on the linearized Poincare' map is suggested and examined. The Poincare' map technique is often used in studying periodic motion. The computational method that results in a measurement for evaluating the robustness of biped locomotion is developed. Our simulation study has verified that the suggested measurement is a good indicator.

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